ROEQ TMC300Ext, Instruction Manual

Page 1: ...ROBOTIC EQUIPMENT TMC300Ext Instruction Manual Valid from serial number 5110265A200000391 2020 12 17...

Page 2: ...d in respect of this document or its contents In addition the contents of the document are subject to change without prior notice Every precaution has been taken in the preparation of this manual Neve...

Page 3: ...stem 17 3 6 2 Setting up COM settings Sick scanners 17 3 6 3 Backup of existing laser scanner configuration front rear scanners Recommended 19 3 6 4 Uploading laser scanner configuration to Sick Safe...

Page 4: ...fications 50 5 2 1 Cart300 with rails dimensions drawing 51 5 3 DS100 200P Ext Floor docking station specifications 51 5 3 1 DS100 200P Ext Floor docking station dimensions drawing 52 6 Maintenance 53...

Page 5: ...uction manual contains all necessary information about the installation and usage of TMC300Ext and related equipment 1 2 Where to find information On www roeq dk Partner Portal login required a wide r...

Page 6: ...sessment of the specific configuration 2 1 Overview This manual contains notices to be observed to ensure personal safety and to prevent damage to property The notices referring to personal safety are...

Page 7: ...ed in section 6 Avoid leakage of fluid during transport Danger of personal injury from leaking fluid Make sure that loads containing fluids do not leak during transport Update maps to avoid hazards on...

Page 8: ...xceed 5 as this may cause the robot to skid Only drive on even and dry surface Risk of personal injury and or damage to the robot Wet and uneven surfaces may cause the robot to skid Do not overload th...

Page 9: ...wer than 50mm and may overrun smaller objects Remove unwanted object from the floor in the robot s area Risk of inefficient execution of orders The robot will go around objects that are not part of th...

Page 10: ...y ROEQ safety configuration must be installed After installing the ROEQ safety configuration the TMC300Ext equipped MiR100 MiR200 robot will furthermore become able to automatically adjust the width o...

Page 11: ...d result in it getting caught crushed by the robot while docking or undocking from stations Stay clear of the docking stations while the robot docks or undocks Mark the docking stations as hazard zone...

Page 12: ...cut outs are also shown in Figure 1 These cut outs imply that it is potentially possibly for a person to place his foot in a way so that it will be run over by the wheels of a cart The residual risk p...

Page 13: ...safety configurations supplied with the TMC300Ext are installed on the MiR robot and the function verified before using the MiR ROEQ combination When the robot drives without cart the robot will use s...

Page 14: ...ding generating missions by using the ROEQ program all general operations of the ROEQ system are controlled by missions in the MiR standard interface Figure 4 ROEQ software in the MiR interface In add...

Page 15: ...ounted remove the yellow cable tie to free the 4 top module cables NOTE Never lift the TMC300Ext in the Emergency Stops NOTE Due to the size and weight of the TMC300Ext it is recommended that two pers...

Page 16: ...en properly connected carefully slide the TMC300Ext towards the rear end of the robot until the ethernet and 4 pin connectors align with the TMC300Ext base plate cut out as illustrated 7 Fasten the TM...

Page 17: ...This is described later in this instruction Definition of terms in the Sick program Download to scanner Here the laser scanners are the units to be downloaded to will be stored on laser scanners Uplo...

Page 18: ...C and the scanners Click Add TCP IP connection profile 5 To create the new profile fill out the entry name and set the IPv4 address to 192 168 12 9 which is the IP of the scanners Click OK 6 Click the...

Page 19: ...ystem Step Instruction Illustration 1 Click Connect to connect to the main Module When the connection is done takes some time the SICK main Module will be ready for doing the backup 2 You may be promp...

Page 20: ...on 2 01 Publicly available p 20 of 55 4 Double click the front laser S300 CPU1 0 EFI1 1 5 Select Read configuration from device 6 Repeat step 3 and 4 for taking backup of the rear scanner Double click...

Page 21: ...TMC300Ext Instruction Manual Revision 2 01 Publicly available p 21 of 55 7 Finally select Save as in the project drop down window and save the original configuration on the PC...

Page 22: ...llustration 1 Open the project Project Open choose the project file ROEQSICKMiR100V2 0 0_cp300 fsp or ROEQSICKMiR200V2 0 0_cp300 fsp from the SICK folder on the USB drive Note Be sure to select the co...

Page 23: ...4 Make sure that both S300 scanners and the main Module are marked and click OK The password for uploading the new safety zones is SICKSAFE 5 Please check the configuration protocol carefully for bot...

Page 24: ...TMC300Ext Instruction Manual Revision 2 01 Publicly available p 24 of 55 6 Although the old main Module is verified click yes to download the new configuration and run the new head device...

Page 25: ...TMC300Ext Instruction Manual Revision 2 01 Publicly available p 25 of 55 7 Verify the new checksum by clicking yes 8 Mark the option for Authorized Client user group and click OK...

Page 26: ...ad and verify result And Yes to finalize the process Remark If you have previously uploaded a ROEQ safety configuration to the robot the Upload and verify result button may not be visible In this case...

Page 27: ...This section describes the unpacking and mounting process of the ROEQ cart and docking station Step Instruction Illustration 1 Fasten the docking station firmly to floor 2 The docking station must be...

Page 28: ...he bottom plate of the docking station has 6x 8 2 mm anchor holes To access these the back plate of the docking station must be removed 4 If manual undocking is needed turn the two handles on the dock...

Page 29: ...m 3 8 1 Setting the distance to marker for disabling collision checks Step Instruction Illustration 1 Connect to the robot via web browser mir com 2 In the MiR web interface go to System Settings Dock...

Page 30: ...he MiR web interface go to System Settings Docking and click Show advanced settings 2 Change the value in Parameter for driving more straight during docking to 0 01 Note This will ensure that the robo...

Page 31: ...he calibration Measurements are made from the outermost glass of the laser scanners not the metal plate underneath the scanners All four swivel wheels shall be orientation in same directing prior to c...

Page 32: ...pproximately 2 Use the built in MiR function to create a marker The icon can be found at the top of the MiR map 3 Choose VL marker and use the button in the bottom of the window to detect the VL marke...

Page 33: ...is set to ROEQ s predefined values If these values or points are changed the docking sequence will not work Create all stations will install all uninstalled docking stations An uninstalled station is...

Page 34: ...the current footprint of the robot to fit the TMC300Ext Info Please note that the docking station docking points generated here are only stored in the active map on the MiR robot If multiple maps are...

Page 35: ...e of 35 mm from the bended black steel edge and make a mark on the top plate of the module 4 Repeat the process on both right and left side in the front end of the TMC300Ext 5 Draw a line between the...

Page 36: ...the Map and select GO TO without a cart 8 Place a straight object across the gap in the docking station e g a ruler or similar to provide a reference for measuring distance 9 Mark the centre of the Do...

Page 37: ...cking station centre Robot y direction y positive direction positive c value y negative direction negative c value 13 Repeated the procedure five times dock into docking station five times and measure...

Page 38: ...ns contact the ROEQ support team 16 In the top left corner click Calibration 17 Type the calculated means mm from above steps Finish by clicking Calibrate robot 18 Restart the robot to implement new g...

Page 39: ...rried out in same way as in the previous section docking bolts shown here Optional The calibration can be done manually In the MiR web interface go to System Settings Calibration Specify the new globa...

Page 40: ...for calibration If you have chosen an ID above 30 you will need to modify the range of stations the program searches for Use the Modify range button for this purpose 4 Supply the program with the mean...

Page 41: ...tup Missions and in the ROEQ cart mission group The robot should now get the cart Wait for the robot to leave the docking station 2 The cart should now be attached to the robot Put a box besides the a...

Page 42: ...The mission can be found under Setup Missions and in the ROEQ cart mission group The robot should now get the cart Wait for the robot to leave the docking station 3 The robot should now be attached t...

Page 43: ...300Ext is fully compatible with MiR100 hardware version 2 0 and MiR200 hardware version 1 1 and newer versions 4 2 Identification label The identification label of the TMC300Ext is placed here ROEQ Ap...

Page 44: ...Description 1 Emergency stop button 5 Top plate 2 Protective guard 6 Access lid 3 Mounting bolt access plug 7 Lock bolt 4 Wi Fi antenna 8 Protective side fender Pos Description Pos Description 1 Lock...

Page 45: ...n retracted position picture A and in extracted position picture B Note The depicted product is TMC300 If needed the lock bolts can manually be retracted by using the lock bolt homing button The lock...

Page 46: ...wheel 4 Corner attachment point 2 Cart main frame 5 Locking mechanism attachment point 3 Docking bolt interface optional 6 Ball docking interface optional 4 6 ROEQ docking station components Pos Descr...

Page 47: ...when the robot is ready to operate If the lock bolt homing procedure has been interrupted during execution or the homing button is not responding the TMC300Ext must determine the lock bolts point of o...

Page 48: ...tandard height 78 mm Height above floor after installation on MiR 430 mm Weight without load 45 kg Color Machined aluminium and matt black Environment Ambient temperature range 5 degrees Celsius to 50...

Page 49: ...TMC300Ext Instruction Manual Revision 2 01 Publicly available p 49 of 55 5 1 1 TMC300Ext dimensions drawing Figure 5...

Page 50: ...ng specifications are additions to the general specifications stated in section 5 1 Dimensions Cart length 800 mm Rails length 1236 mm Cart width 800 mm Rails width 836 mm Cart height 484 mm Rail heig...

Page 51: ...wing Figure 6 5 3 DS100 200P Ext Floor docking station specifications The following specifications are additions to the general specifications stated in section 5 1 Dimensions Length 250 mm 383 mm inc...

Page 52: ...TMC300Ext Instruction Manual Revision 2 01 Publicly available p 52 of 55 5 3 1 DS100 200P Ext Floor docking station dimensions drawing Figure 7...

Page 53: ...needed Locking bolts Clean the bolts with a dry cloth to maintain correct function Every 2 3 weeks as needed Side wear protection plate Inspect the side protection plates for damage wear to maintain c...

Page 54: ...will be able to command the robot to pick up and deliver ROEQ designed carts and pallets and thereby executing multiple logistic tasks with the use of one robot To be able to operate with a ROEQ cart...

Page 55: ...blicly available p 55 of 55 7 2 Formulas for calculating the global offsets of the robot These formulas are used for calculating the global offsets of the robot in relation to the calibration tan 1 80...